STL-Lex-MPPI-Planner

Code to reproduce the numerical experiments from:

Patrick Halder, Lothar Kiltz, Hannes Homburger, Johannes Reuter, Matthias Althoff, "Lexicographic Minimum-Violation Motion Planning using Signal Temporal Logic," IEEE Open Journal of Intelligent Transportation Systems, 2026. DOI: https://doi.org/10.1109/OJITS.2026.3726082

Repository Structure (Experiment Reproduction)

This repository has two main experiment directories:

1. effects-of-discretization-and-solver-evaluations

   • Contains the experiments for:
     • effects of discretization,
     • MPPI solver adaptations,
     • comparison of robustness measures
   • Installation and usage instructions are in its local README.

2. commonroad-evaluations

   • Contains the CommonRoad experiments:
     • intersection scenario evaluation,
     • comparison with preemptive planning,
     • comparison with alternative solvers on CommonRoad scenarios.
   • Installation and usage instructions are in its local README.

Contact

Patrick Halder: patrick.halder@tum.de

Citation

@ARTICLE{11664127,
	author={Halder, Patrick and Kiltz, Lothar and Homburger, Hannes and Reuter, Johannes and Althoff, Matthias},
	journal={IEEE Open Journal of Intelligent Transportation Systems},
	title={Lexicographic Minimum-Violation Motion Planning using Signal Temporal Logic},
	year={2026},
	volume={},
	number={},
	pages={1-1},
	doi={10.1109/OJITS.2026.3726082}
}